CN103430446B - Motor drive control apparatus - Google Patents
Motor drive control apparatus Download PDFInfo
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- CN103430446B CN103430446B CN201180061837.1A CN201180061837A CN103430446B CN 103430446 B CN103430446 B CN 103430446B CN 201180061837 A CN201180061837 A CN 201180061837A CN 103430446 B CN103430446 B CN 103430446B
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- speed
- motor
- pedal
- gear ratio
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M23/00—Transmissions characterised by use of other elements; Other transmissions
- B62M23/02—Transmissions characterised by use of other elements; Other transmissions characterised by the use of two or more dissimilar sources of power, e.g. transmissions for hybrid motorcycles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Embodiments herein is used for preventing motor-driven wheel from dallying.Specifically, this motor drive control apparatus includes: the 1st calculating section, calculates the 1st speed by the powered motor-driven wheel of motor according to the input torque by pedal；2nd calculating section, calculates the 2nd speed of the pedal-driven wheel driven by the input torque of pedal；And signal output unit, in the case of the 1st speed is faster than the 2nd speed, output is used for stopping or suppressing the control signal of the driving of motor.
Description
Technical field
The present invention relates to motor-driven control.
Background technology
Electrically assisted bicycles etc. effectively utilize the electronic auxiliary car of electronic auxiliary force to become constructed as below, i.e. as used people
Power carries out the sensor (torque sensor etc.) detected, and controls electronic auxiliary force according to described detection signal.
Additionally, distance can be travelled as far as possible in order to make the energy of the battery by being carried, and braking time etc. slow down
Time, make motor as dynamotor action, carry out energy regenerating (i.e. regeneration), use the electricity generated electricity by motor
Battery is charged by power.
In the introduction, the driving of motor is to carry out when torque sensor detects the input torque by pedal.
So, such as by pedal-driven wheel locking state or from speed be zero set out time etc., if pushes pedals, the most not
Rotate, so pedal is applied the biggest torque, correspondingly motor is also applied bigger driving torque.So,
Motor-driven wheel exceedes and dallies with the frictional force on ground, and revolution is the most excessive.
Additionally, driving trailing wheel by manpower, during by the type of motor-driven front-wheel, particularly when upward slope sets out
The heavy burden of front-wheel alleviates, and when setting out, pedal needs bigger torque.So, it is easier to produce front-wheel idle running.Additionally,
During overturning, pedal colliding surface, when moment produces huge pedal torque etc., motor-driven wheel with surface separation.
So, if applying driving torque, then revolution may become excessive moment.And, a pin slams pedal another pedal
Ground, and by hand push one side trample one side departure place cycling in the case of etc., as health does not takes the state in bicycle
In the case of lower pushes pedals, because pedal Torque test is delayed, the moment motor drive torques that body weight disappears produces.?
In this case, motor-driven wheel dallies and broken ring posture, it is possible to overturning.But, research such as prevents as above
The process that described problem produces is the most unknown.
Additionally, in the motor drive control apparatus of the electrically assisted bicycle of band variable-speed motor, in general for detection song
The gear ratio of handle sprocket wheel and rear wheel sprocket, and need special entity.In motor drive control apparatus, as long as can be cheap
Acquisition gear ratio, then highly useful in motor-driven control, but do not exist this effective solution.
[background technology document]
[patent document]
No. 2623419 publications of [patent document 1] Japanese Patent No.
[patent document 2] Japanese Patent Laid-Open 2003-276672 publication
No. 3317096 publications of [patent document 3] Japanese Patent No.
Summary of the invention
[inventing problem to be solved]
So, it is an object of the invention to provide a kind of technology of idle running for preventing or suppress motor-driven wheel.
Additionally, another object of the present invention is to provide a kind of motor drive control apparatus in electrically assisted bicycle
In for obtaining the technology of gear ratio of variable-speed motor.
[solving the technological means of problem]
The motor drive control apparatus of the 1st form of the present invention includes: (A) the 1st calculating section, according to the input of pedal
Torque and calculate the 1st speed by the powered motor-driven wheel of motor；(B) the 2nd calculating section, calculates by stepping on
The input torque of plate and the 2nd speed of pedal-driven wheel that drives；And (C) signal output unit, at the 1st speed ratio the 2nd
In the case of speed is fast, output is used for stopping or suppressing the control signal of the driving of motor.So, then can suitably prevent
The idle running of motor-driven wheel.
The 2nd calculating section in the motor drive control apparatus of the 1st form of the present invention the most also calculates the 2nd speed conduct
The speed calculated according to sensor output is added the value of specific allowance.It addition, the additional method of specific allowance can be
Various methods, if the additional allowance of result.Such as, as long as also constant being added, then there is also and be multiplied by particular value
Situation.And, the most also it is these combination.
Additionally, described specific allowance there is also the situation of the function for the speed calculated according to turn-sensitive device output.
Additionally, the rotary frequency that above-described 2nd calculating section can also obtain according to the turn-sensitive device taken turns from pedal-driven
The girth of rate and pedal-driven wheel and calculate the 2nd speed.As long as turn-sensitive device can be carried, then for having in pedal-driven wheel
Effect.In this case, allowance is the most also given.
And, above-described 2nd calculating section is according to the pedal speed obtained from the turn-sensitive device of pedal and pedal
The girth of driving wheel calculates the 2nd speed with the gear ratio of variable-speed motor, is certain threshold at the input torque meeting pedal further
In the case of being worth above condition, above-described signal output unit can also export control signal.As long as can take in pedal
Carry turn-sensitive device, then can implement computing in this way.In this case, allowance is the most also given.
It addition, the gear of above-described variable-speed motor ratio is the most also for the fastest gear ratio that can set.Gear cannot obtained
In the case of Bi, the fastest gear ratio is used to infer in this way.
The motor drive control apparatus of the 2nd form of the present invention includes: (A) judging part, according to the input of corresponding pedal
The speed of the motor that torque and controlling rotates and the pedal speed obtained from the turn-sensitive device of pedal, and push away
The gear ratio of disconnected variable-speed motor, and judge that whether the gear through inferring than exceedes threshold value；And (B) signal output unit, passing through
In the case of judging part judges that the gear through inferring is more than specific threshold than the input torque exceeding threshold value and pedal, defeated
Go out the control signal of driving for stopping or suppressing motor.
By being deformed by inequality originally, the idle running of motor-driven wheel can also be detected by this computing.
And, the motor drive control apparatus of the 3rd form of the present invention includes: (A) judging part, uses according to correspondence
The revolution of the motor that the input torque of pedal and controlling rotates and the speed that calculates and obtain from the turn-sensitive device of pedal
Pedal speed, calculate for judging the motor-driven wheel that driven by the motor desired value with or without idle running,
And judge whether this desired value meets specified conditions；And (B) signal output unit, described desired value meet specified conditions and
In the case of the input torque of pedal is more than threshold value, output is used for stopping or suppressing the control letter of the driving of described motor
Number.
Calculate suitable desired value even from formula inequality deformation originally obtained and can also suitably detect electronic
The idle running of machine driving wheel.
It addition, the motor drive control apparatus of the 1st form of the present invention can further include: the 3rd calculating section, by making
With the pedal swing circle calculated according to the signal exported from the turn-sensitive device of pedal divided by according to from the rotation of motor
Turn the signal of sensor output and the motor swing circle that calculates and calculate gear ratio；Detection unit, it is determined that the input of pedal
Whether torque is at specific period continued presence；And output unit, it is being judged to that by detection unit input torque is in specific period
The period of continued presence, export signal based on the gear ratio calculated by the 3rd calculating section.Thus, can specific go out tooth
Wheel ratio.
Additionally, above-described output unit can also by by for specific go out multiple gear positions of being realized by variable-speed motor
Corresponding multiple fixed gear ratio and threshold value set in advance and be judged to that input torque is in specific period by detection unit
The gear ratio of the period of continued presence compares, specific go out with this gear than corresponding fixed gear ratio, output represents
This fixed gear ratio or the signal of the gear position corresponding with this fixed gear ratio.So, then gear accurately can be obtained
Ratio or gear position.
And, the motor drive control apparatus of the 4th form of the present invention includes: (A) calculating section, by using basis
The pedal swing circle calculated from the signal of the turn-sensitive device output of pedal is divided by according to from the rotation sensing of motor
The signal of device output and the motor swing circle that calculates and calculate gear ratio；(B) detection unit, it is determined that the input torque of pedal
Whether at specific period continued presence；And (C) output unit, it is being judged to that by detection unit input torque connected in specific period
Renew period, export signal based on the gear ratio calculated by calculating section.So, even if then gearless is than inspection
Survey monitor and can also obtain gear ratio.
Additionally, above-described output unit can also by by for specific go out multiple gear positions of being realized by variable-speed motor
Corresponding multiple fixed gear ratio and threshold value set in advance and be judged to that input torque is in specific period by detection unit
The gear ratio of the period of continued presence compares, to this gear than corresponding fixed gear ratio, output represents that this is solid
Fixed gear ratio or the signal of the gear position corresponding with this fixed gear ratio.
It addition, can be made into for making microprocessor implement the as above program processed, this program be such as stored in floppy disk,
CD, magneto-optic disk, the semiconductors such as CD-ROM (Compact Disc Read Only Memory, Compact Disc-Read Only Memory)
The storage medium of the embodied on computer readable such as memory (such as ROM (Read Only Memory, read-only storage)), hard disk
Or in storage device.It addition, about process way in data, temporary safe-keeping in RAM (Random Access Memory,
Random access memory) etc. storage device in.
Accompanying drawing explanation
Fig. 1 is the figure of an example of the electrically assisted bicycle representing the 1st embodiment.
Fig. 2 is the figure of the example representing the signal generated by pedal turn-sensitive device.
Fig. 3 is the figure of the example representing hall signal.
Fig. 4 is the figure of the composition of the motor driving controller representing the 1st embodiment.
Fig. 5 is the figure of an example of the electrically assisted bicycle representing the 2nd embodiment.
Fig. 6 is the figure of the composition of the motor driving controller representing the 2nd embodiment.
Fig. 7 is the figure of the composition of the motor driving controller representing the 3rd embodiment.
Fig. 8 is the figure of the composition of the motor driving controller representing the 4th embodiment.
Fig. 9 is the figure of the composition of the motor driving controller representing the 5th embodiment.
Figure 10 is the functional block diagram of computer.
Detailed description of the invention
[embodiment 1]
Would indicate that the outside drawing of an example of the electrically assisted bicycle of present embodiment is shown in Fig. 1.This electrically assisted bicycle
The 1 general rear wheel drive variety linked through chain with trailing wheel for crank axle, and carry motor drive.
I.e., in the present embodiment, trailing wheel becomes pedal-driven wheel.Motor drive includes secondary cell 101, electronic
Machine drives controller 102, the sensor group 103 of pedal relation, the motor 105 of band turn-sensitive device and gear than inspection
Survey portion 106.
Secondary cell 101 for example, supplies the lithium rechargeable battery that maximum voltage (voltage time fully charged) is 24V, but
Can also be other kinds of battery, such as lithium ion polymer secondary cell, nickelous cyanide battery etc..Motor 105,
Motor driving controller 102 action by the electric power from secondary cell 101 such as grade.
Torque sensor 103a contained in sensor group 103 is arranged at the roller being arranged on crank axle, to passenger pair
The legpower of pedal detects, and exports its testing result to motor driving controller 102.Additionally, sensor
The signal that the corresponding pedal of pedal turn-sensitive device 103b output contained in group 103 rotates.Such as shown in output Fig. 2
Signal.In the example in figure 2, the pulse that every 60 ° of output uprises during 1 swing circle T1 of pedal.
The most well-known three-phase DC brushless electric motor of motor 105, such as, be arranged on electrically assisted bicycle 1
Front-wheel.I.e., in the present embodiment, front-wheel becomes motor-driven wheel.Motor 105 makes front-wheel rotate, and
Rotor is linked so that rotor rotates according to the rotation of front-wheel with front-wheel.And, motor 105 includes Hall element etc.
And the rotation information (i.e. hall signal) of rotor is exported to motor driving controller 102.
Such as shown in Fig. 3, hall signal (Hall-U, Hall-V, Hall-W) is each of corresponding this 3 phase of U, V, W phase
Person and the signal that exports, respectively 120 ° of phase places of skew and every 180 ° of 2 value signals carrying out inverting.Due to these signals be
Motor rotates and exports 4 cycles for every 1 time, so the phase place in the cycle of hall signal i.e. 1 cycle of hall signal
90 ° of mechanical angle when electrical angle 360 ° is equivalent to the rotation of motor 105.Thus, each hall signal (Hall-U,
Hall-V, Hall-W) rising edge and drop edge export when motor 105 often rotates 15 °.Additionally, in this reality
Execute in mode, the 1/4 of 1 swing circle T2 that 1 cycle is motor 105 of hall signal.
Additionally, gear than test section 106 by skew (gear) position representing crank and chain-wheel and the gear ratio of rear wheel sprocket
Carry out the signal detected, or in order to control it and the output of the signal of command offsets (gear) position during electric shift machine
To motor driving controller 102.But it is also possible to do not use gear than test section 106.
The composition of the motor driving controller 102 about this electrically assisted bicycle 1 is shown in Fig. 4.Motor drives
Movement controller 102 include torque exist detection unit 1021, drive signal generating unit the 1022, the 1st speed calculating section 1023,
2nd speed calculating section 1024, allowance appendix 1025, comparing section 1026 and logic product portion 1027.
1st speed calculating section 1023 is according to the hall signal detection electricity exported from the Hall element being included in motor 105
The speed of motivation (and motor-driven wheel), is multiplied by the girth of motor-driven wheel further, thus calculates about electricity
The speed (the hereinafter referred to as the 1st speed) of motivation driving wheel, and export to comparing section 1026.
On the other hand, the 2nd speed calculating section 1024 detects step on according to the signal exported from pedal turn-sensitive device 103b
The speed of plate.Additionally, the 2nd speed calculating section 1024 obtains gear ratio from gear than test section 106.But,
Do not exist gear than test section 106 in the case of, use the maximum gear ratio set set in advance.And, the
2 speed calculating sections 1024 by the speed of pedal, the girth of pedal-driven wheel and gear ratio (or maximum gear ratio (but
The most also be 1)) long-pending speed (the hereinafter referred to as the 2nd speed calculated about pedal-driven wheel.It addition, also by the 2nd
Speed is referred to as inferring speed), and export to allowance appendix 1025.Allowance appendix 1025 is in being multiplied by the 2nd speed
After allowance ratio set in advance, will be added about overall allowance, and export the 2nd speed after allowance is added.
Allowance ratio for example, about 1.06, but the difference institute that becomes when consideration has the individual difference of wheel diameter, atmospheric pressure to decline or bear a heavy burden
Caused by the wheel diameter allowance of cause, the Elastic Sliding (slippage not slided caused by rubber deformation) of tire, steering angle
The value of the speed discrepancy etc. of front and back wheel.Additionally, about overall allowance, for example, during 1km/ about, but become consideration and have
Can the value of speed etc. of stable detection pedal speed.Allowance can also be for the function predetermined, such as constant, speed
The function of the function of degree, speed and pedal torque.
It addition, in the case of adding or being multiplied by allowance ratio, it is also possible to the value itself to not the 2nd speed, but become
For determining the numerical value of the part of the key element of the 2nd speed, such as gear is than waiting plus or being multiplied by allowance ratio.
The 1st speed (about the speed of motor-driven wheel) that comparing section 1026 will export from the 1st speed calculating section 1023
Compare with the allowance exported from allowance appendix 1025 the 2nd speed (about the speed of pedal-driven wheel) after additional.
And, in the case of the comparing section 1026 the 2nd speed after the 1st speed is more additional than allowance is fast, i.e. in the 1st speed > abundant
In the case of the 2nd speed after amount is additional, " 1 " is exported to logic product portion 1027.On the other hand, comparing section 1026 exists
1st speed > in the case of the 2nd speed after allowance is additional is invalid, will " 0 " output to logic product portion 1027.
On the other hand, there is detection unit 1021 and judge whether the input torque from torque sensor 103a is specific in torque
More than threshold value.Specific threshold is considered as the higher limit of " 0 " as input torque and sets.And, there is judgement in pedal torque
" 1 ", in the case of input torque is more than specific threshold, is exported to logic product portion 1027, at input torque by portion 1021
In the case of not reaching specific threshold, " 0 " is exported to logic product portion 1027.
The logic product portion 1027 output and the output from comparing section 1026 to there is detection unit 1021 from pedal torque
Logic product carry out computing.Specifically, it being not 0 (more than specific threshold) and the 1st speed at input torque > allowance is attached
In the case of the 2nd speed after adding is set up, by " 1 " output to driving signal generating unit 1022.Additionally, at input torque
Substantially 0 (not reaching specific threshold) or the 1st speed > in the case of the 2nd speed after allowance is additional is invalid, will " 0 " output
To driving signal generating unit 1022.That is, logic product portion 1027 exports and is used for making electricity because motor-driven wheel produces idle running
Motivation drives the signal " 1 " stopped, or for representing the signal " 0 " that motor-driven wheel does not dallies.
Drive signal generating unit 1022 generally by according to indicating motor to drive from the input torque of torque sensor 103a
Dynamic signal exports to motor 105.Specifically, in the period from logic product portion 1027 output signal " 0 ", by root
The signal indicating motor-driven according to the input torque from torque sensor 103a exports to motor 105.It addition,
About the concrete content driving and controlling, due to the purport in not present embodiment, therefore omit the description.
On the other hand, if from logic product portion 1027 input signal " 1 ", then drive signal generating unit 1022 will be used for making electricity
The signal that the drive actions of motivation 105 stops exports to motor 105.Not making it stop completely, what is called makes motor
The driving of 105 stops, and the most not instigates rotation to force to stop, but making power running driving torque is zero.So,
Carry out blocking the driving electric current of motor and forcing to become zero-turn square, or make the instruction of power running driving torque or drive electric current
Instruction is the driving of zero.Additionally, not make it stop completely, it is also possible to be controlled suppressing the power of motor 105
Operating drives.
So, when use the locking pedal-driven wheel such as key and substantially cannot movable, can avoid or suppress such as electricity
Motivation driving wheel produces the situation of idle running.
Alternatively, it is also possible to change comprehensive 2nd speed calculating section 1024 and allowance appendix 1025 and the method for additional allowance.
For example, it is also possible to the 2nd speed not to be multiplied by allowance ratio, but to becoming the part of the key element determining the 2nd speed
Change in the way of the allowance that gear ratio to be multiplied by the form of allowance ratio but is not added with additional and gear ratio.Close
In other inscapes, sometimes it is also carried out integration.As long as in a word as a result, use the value to the 2nd speed to consider there is wheel
When the individual difference of diameter, atmospheric pressure decline or poor, the Elastic Sliding of tire of variation of the wheel diameter that bears a heavy burden caused by difference, turn
The value of the speed discrepancy etc. of wheel before and after caused by angle.
[embodiment 2]
In the present embodiment, as it is shown in figure 5, carry the situation of turn-sensitive device 104 to relative to pedal-driven wheel
Illustrate.It addition, in the present embodiment, pedal turn-sensitive device 103b is not used.Additionally, close this embodiment party
Motor driving controller in formula, illustrates as motor driving controller 102b.
Fig. 6 will be shown in about the composition of motor driving controller 102b.Motor driving controller 102b includes driving
Signal generating unit the 1022, the 1st speed calculating section 1023, comparing section the 1026, the 3rd speed calculating section 1028 and allowance
Appendix 1020.Identical symbol is given about the inscape identical with the 1st embodiment.That is, application the 3rd speed
Calculating section 1028 is to replace the 2nd speed calculating section 1024.
In the present embodiment, pedal-driven wheel turn-sensitive device 104 exports the signal of corresponding pedal-driven wheel.Response should
Output, the rotation that pedal-driven is taken turns by the 3rd speed calculating section 1028 according to the signal of pedal-driven wheel turn-sensitive device 104
Turn frequency to detect, the girth of the speed taken turns according to this pedal-driven and pedal-driven wheel calculate pedal-driven
The speed (the i.e. the 2nd speed) of wheel, and export to allowance appendix 1020.Pedal frequency is surveyed by allowance appendix 1020
2nd speed is added by the amount of fixed rounding error etc..Constant can be added, it is also possible to be multiplied by and determine rate.
Identical with the 1st embodiment, the 1st speed calculating section 1023 is according to the hall signal inspection exported from motor 105
Survey the speed of motor-driven wheel, long-pending according to the speed of motor-driven wheel and the girth of motor-driven wheel
Calculate the speed (the i.e. the 1st speed) about motor-driven wheel, and export to comparing section 1026.
About the process that comparing section 1026 is later, different from the 1st embodiment part, in the case of output A > B,
No matter pedal torque is with or without input, as long as motor such as can be avoided to drive by stopping the power running of motor 105 to drive
Driving wheel produces the situation of idle running.
[embodiment 3]
In the 1st embodiment, comparing section 1026 judges the 1st speed > the 2nd speed after allowance is additional but it also may
The idle running of motor-driven wheel is otherwise judged by being deformed by described inequality.
The motor driving controller 102c of present embodiment is shown in Fig. 7.To the motor-driven with the 1st embodiment
The inscape that controller 102 is identical adds identical symbol.Specifically, motor driving controller 102c includes
There is detection unit 1021, drive signal generating unit the 1022, the 1st speed calculating section the 1023, the 2nd speed calculating section in torque
1024, allowance appendix 1025 and idle running detection unit 1029.So, in the present embodiment, arrange idle running to sentence
Determine portion 1029 to replace the comparing section 1026 in the 1st embodiment and logic product portion 1027.
For idle running detection unit 1029, input the 2nd speed after allowance is added from allowance appendix 1025, and from the 1st
Speed calculating section 1023 inputs the 1st speed, and idle running detection unit 1029 carries out computing to these values and calculates desired value, sentences
Whether this desired value fixed meets condition.
Such as, due to 1 speed/allowance additional after the 2nd speed > 1 relation set up, so by 1 speed/allowance
The 2nd speed after Fu Jia calculates as desired value, and determines whether desired value > 1.Additionally, due to 1 > allowance is attached
The relation of the 2nd speed/the 1st speed after adding is set up, so can also be by the allowance the 2nd speed/the 1st speed after additional
Calculate as desired value, and determine whether desired value < 1.
And, desired value meet condition and come self-torque exist the signal of detection unit 1021 for " 1 " in the case of, i.e. only
Input represent input torque not for the signal of " 0 " (more than threshold value), then idle running detection unit 1029 will be used for stopping electronic
Signal " 1 " output that machine drives is to driving signal generating unit 1022.On the other hand, the situation of condition it is unsatisfactory in desired value
Under, or come self-torque exist the signal of detection unit 1021 for " 0 " in the case of, i.e. simply enter expression input torque
For the signal of " 0 " (not reaching threshold value), then the output of idle running detection unit 1029 represents that motor-driven wheel does not produces the signal of idle running
“0”.Drive the process of signal generating unit 1022 due to identical with the 1st embodiment, therefore omit the description.
It addition, above-described desired value is an example.1st speed speed × motor-driven wheel by motor
Girth and calculate, the 2nd speed is abundant by the girth × gear ratio × allowance ratio of pedal speed × pedal-driven wheel+fix
Measure and calculate.So, by by (girth of the speed × motor-driven wheel of motor) > (pedal speed × step on
The girth of plate driving wheel × gear ratio × allowance ratio+fixing allowance) inequality deformation, and set desired value and corresponding
Condition, it is also possible to judge according to the relation of desired value with condition.
In addition it is also possible to the 2nd embodiment is deformed in the way of present embodiment.I.e., it is possible to use pedal
Turn-sensitive device and the 3rd speed calculating section.
[embodiment 4]
In the 3rd embodiment, according to the desired value of relation based on the 2nd speed after additional of the 1st speed and allowance and
Corresponding condition and carry out the judgement dallied.But, as a rule, due to the 1st speed=the 2nd speed, so should
It it is the girth × gear ratio of 1 speed=pedal speed × pedal-driven wheel.So, derive gear than the=the 1 speed/(step on
The girth of plate speed × pedal-driven wheel) relation.But, in the case of the 2nd speed is less, gear is used for
The value bigger than original value and calculate.Thus, the gear calculated than for threshold value (such as can set maximum gear than) with
In the case of on, it is determined that for calculating and the gear ratio of non-appropriate.
In the present embodiment, the such as motor driving controller 102d shown in Fig. 8 is used.To with the 1st embodiment
Identical inscape uses identical symbol.Additionally, in the present embodiment, do not use gear than test section 106.
And, motor driving controller 102d includes that torque exists detection unit 1021, drives signal generating unit the 1022, the 1st
Speed calculating section 1023, gear are than appropriateness detection unit 1030 and logic product portion 1027.
Gear detects pedal rotary frequency than appropriateness detection unit 1030 according to the signal from pedal turn-sensitive device 103b
Rate, and merge with the 1st speed from the 1st speed calculating section 1023, by the 1st speed/(pedal speed × step on
The girth of plate driving wheel) calculate gear ratio.Alternatively, it is also possible to the gear calculated than additional specific allowance.And, tooth
Wheel exceedes threshold value than appropriateness detection unit 1030 in the gear ratio calculated than comparing with threshold value by the gear calculated
In the case of, " 1 " is exported to logic product portion 1027, if the gear calculated ratio is below for threshold value, then will " 0 " output extremely
Logic product portion 1027.
Hereinafter process identical with the 1st embodiment, in state that substantially cannot be movable by locking pedal-driven wheels such as keys
Under, motor-driven wheel such as can be avoided to produce the situation of idle running.
About inscape discussed above, carry out comprehensive or segmentation.Such as, the most also gear is judged than appropriateness
Portion 1030 and logic product portion 1027 comprehensively conduct idle running detection unit function.
[embodiment 5]
In the present embodiment, to including that the motor driving controller 102e calculating the mechanism of gear ratio illustrates.
As it is shown in figure 9, motor driving controller 102e include torque exist detection unit 1021, continuity detection unit 1102,
Pedal cycle calculating section 1103, motor cycle calculating section 1104, except calculate device 1105, buffer shift register 1106,
Update register 1107 and threshold value comparing section 1108.It addition, buffer shift register 1106, renewal register 1107
And threshold value comparing section 1108 is as output unit function.
It is identical to the 4th embodiment with the 1st embodiment to there is detection unit 1021 in torque, it is judged that from torque sensor
Whether the input torque of 103a is more than specific threshold.Specific threshold is considered as the higher limit of " 0 " as input torque and sets.
And, there is detection unit 1021 in the case of input torque is more than specific threshold in torque, exports " 1 " to continuity
Detection unit 1102, in the case of input torque does not reaches specific threshold, exports " 0 " to continuity detection unit 1102.
The pulse that continuity detection unit 1102 rotates for every 1 time according to the pedal exported from pedal turn-sensitive device 103b, sentences
Fixed specific period (the such as period of 3 rotation amounts of pedal), whether self-torque existed detection unit 1021 input represents existence input
" 1 " of torque.In the case of there is " 1 " that detection unit 1021 input expression exists input torque in specific period self-torque,
Continuity detection unit 1102 exports enabling signal " 1 " to updating register 1107.On the other hand, in specific period self-torque
In the case of there is " 1 " that detection unit 1021 input expression exists input torque, such as, temporarily become 0 at input torque
In the case of, continuity detection unit 1102 exports enabling signal " 0 " to updating register 1107.
On the other hand, pedal cycle calculating section 1103 is according to every 1 rotation of the pedal exported from pedal turn-sensitive device 103b
The pulse turned, calculates pedal swing circle and exports to except calculating device 1105.Additionally, motor cycle calculating section 1104
Motor swing circle defeated is calculated according to the hall signal (such as any one signal (such as U)) exported from motor 105
Go out to except calculating device 1105.The value (i.e. gear than) of pedal swing circle/motor swing circle defeated is calculated except calculating device 1105
Go out to buffer shift register 1106.
The pulse that buffer shift register 1106 rotates for every 1 time according to the pedal exported from pedal turn-sensitive device 103b,
Keep certainly except the value of the gear ratio calculating device 1105 output, and the value output kept extremely is updated register 1107.
If the enabling signal carrying out automatic continuity detection unit 1102 is " 1 ", then updates register 1107 and rotate biography according to from pedal
The pulse that the pedal of sensor 103b output rotates for every 1 time, keep and export from buffer shift register 1106 defeated
Go out value.
Such as in the case of the period that specific period is 3 rotation amounts of pedal, at the 1st cycle output gear that pedal rotates
Wheel ratio G1, the 2nd cycle output gear rotated at pedal than G2, the 3rd cycle output gear rotated at pedal than G3,
The 1st cycle that was judged to is continued presence input pedal to the 3rd cycle.So, then gear is abolished than G1, but certainly
Buffer shift register 1106 output gear period than G2, export enabling signal " 1 ", institute to updating register 1107
Keep and export than G2 by updating register 1107 with gear.The most identical, by 3 gear ratios of continuous print the 2nd
Gear keeps than by renewal register 1107 and exports.
It addition, about the gear ratio of self refresh register 1107 output, sometimes also implement to be multiplied by conversion system for uniform units
The computings such as number.
On the other hand, in the case of including most of bicycle of variable-speed motor, this variable-speed motor is set with corresponding teeth position of wheel
The fixed gear ratio put.Such as, in the case of 3 fast built-in variable-speed motors, set just like gear ratio=3/4 during low speed, its
Gear ratio=1 during middling speed, fixing than=4/3 of gear and gear ratio accurately during high speed.
So, such as to 7/8 setting the 1st threshold value near the centre of low speed and middling speed, attached with centre at a high speed to middling speed
7/6 near setting the 2nd threshold value.Described threshold value is preset as gear ratio threshold, threshold value comparing section 1108 by its with
The output i.e. gear ratio carrying out self refresh register 1107 compares.In example described above, if depositing from renewal
The gear ratio of device 1107 output does not reaches the 1st threshold value, then would indicate that the signal of low speed or the gear of low speed compare=3/4 as tooth
Wheel position exports and exports.If additionally, being more than the 1st threshold value from the gear ratio updating register 1107 output and not reaching
2nd threshold value, then would indicate that the signal of middling speed or the gear of middling speed export as gear position output than=1.And, if
It is more than the 2nd threshold value from the gear ratio of renewal register 1107 output, then would indicate that signal at a high speed or gear at a high speed
Export as gear position output than=4/3.As long as implementing this process, the most exportable ratio of gear accurately.Such as,
As long as motor driving controller 102e is connected with output unit, then output unit can be carried out gear position and show.Certain 3
Speed is an example, can be 2 speed, it is also possible to be more than 4 speed, set between the fixed gear ratio of these gear positions corresponding
Threshold value, as long as judging that whether the gear that calculated than is included in the allowance of any threshold, then can specific go out suitable fixing
Gear ratio.
Furthermore, it is also possible to infer the loading condition in addition to uphill condition, the degree of fatigue etc. of passenger according to gear position,
It is changed to optimal driving form at each gear position.That is, by gear position output output to driving signal generating unit, drive
Dynamic signal generating unit makes driving signal change according to gear position output.
In addition it is also possible to use this mechanism to replace gear than test section 106.In this case, by this embodiment party
The period of the mechanism's non-output gear ratio in formula, such as, gear can also be used to compare maximum.
Above embodiments of the present invention are illustrated, but the present invention is not limited to this.Such as, above-described
Functional block diagram is divided into mac function, actual circuit composition to there is also difference, realized by program for convenience of description
In the case of, there is also and constitute inconsistent situation with program module.And, it is achieved functionality described above concrete
Operation method exists multiple, can use any one.
Additionally, about part or all of motor driving controller, realized by special circuit as long as there is also
Situation, then perform program also by microprocessor and realize function as above.
In the case of this, as shown in Figure 10, motor driving controller is by RAM (Random Access
Memory) 4501, processor 4503, ROM (Read Only Memory) 4507 and sensor group 4515 pass through bus
4519 and connect.At the program existed for implementing the process in present embodiment and operating system (OS:Operating
System), in the case of, it is stored in ROM 4507, when being performed by processor 4503 from ROM 4507
Read out to RAM 4501.It addition, ROM 4507 also records the parameter in addition to threshold value, and also read this parameter.
Above-described sensor group 4515 is controlled and obtains measured value by processor 4503.Additionally, about processing in way
Data, be stored in RAM 4501.It addition, processor 4503 the most also includes ROM 4507, sometimes further include
RAM 4501.In the embodiment of this technology, the most also store for implementing the control program of process described above
And be distributed in the removable video disc of embodied on computer readable, and write to ROM 4507 by ROM write device.This
Plant computer installation by (being had with program by the hardware such as process described above device 4503, RAM 4501, ROM 4507
Time also for OS) organic collaborating and realize various function as above.
Claims (10)
1. a motor drive control apparatus, including:
1st calculating section, calculates according to the input torque of pedal about the 1st car by the powered motor-driven wheel of motor
Speed；
2nd calculating section, calculates the 2nd speed of the pedal-driven wheel driven about the input torque by described pedal；And
Signal output unit, in the case of described 1st speed is faster than described 2nd speed, output is used for stopping or suppressing described electronic
The control signal of the driving of machine；
The pedal speed that wherein said 2nd calculating section obtains according to the turn-sensitive device from described pedal, described pedal-driven are taken turns
Girth calculate described 2nd speed with the gear ratio of variable-speed motor,
In the case of meeting the condition that input torque is more than specific threshold of described pedal further, described signal output unit is defeated
Go out described control signal.
Motor drive control apparatus the most according to claim 1, wherein said 2nd calculating section calculates described 2nd speed as to from rotation
Turn the speed that calculates of sensor output and add the value of specific allowance.
Motor drive control apparatus the most according to claim 2, wherein said specific allowance is for calculating from the output of described turn-sensitive device
The function of speed.
Motor drive control apparatus the most according to claim 1, the gear of wherein said variable-speed motor is than the fastest gear for setting
Ratio.
Motor drive control apparatus the most according to claim 1, further includes:
3rd calculating section, by using the pedal swing circle calculated according to the signal exported from the turn-sensitive device of described pedal to remove
Gear ratio is calculated with the motor swing circle that calculates according to the signal exported from the turn-sensitive device of described motor；
Detection unit, it is determined that whether the input torque of described pedal is at specific period continued presence；And
Output unit, is being judged as the described input torque period at specific period continued presence by described detection unit, exports base
Signal in the gear ratio calculated by described 3rd calculating section.
Motor drive control apparatus the most according to claim 5, wherein said output unit by will for specific go out by variable-speed motor reality
The existing multiple fixed gear ratio corresponding to multiple gear positions and threshold value set in advance is judged to by described detection unit
The described input torque gear ratio in the period of specific period continued presence compares, and specific go out corresponding with this gear ratio
Fixed gear ratio, and export this fixed gear ratio of expression or the signal of the gear position corresponding with this fixed gear ratio.
7. a motor drive control apparatus, including:
Judging part, controls the speed of the motor of rotation and from the rotation of described pedal based on the input torque according to pedal
The pedal speed that sensor obtains, infers the gear ratio of variable-speed motor, and judges that whether the described gear through inferring than exceedes
Threshold value；And
Signal output unit, if exceeding described threshold value at the described gear ratio through inferring, is then judged and described by described judging part
In the case of the input torque of pedal is more than specific threshold, output is used for stopping or suppressing the control letter of the driving of described motor
Number.
8. a motor drive control apparatus, including:
Judging part, use the revolution of motor controlling to rotate based on the input torque according to pedal and calculate speed, from institute
State pedal speed and revolution based on described motor and described pedal speed that the turn-sensitive device of pedal obtains and
The gear ratio of the variable-speed motor inferred, calculates for judging that the motor-driven wheel driven by described motor is with or without the 1st of idle running
Desired value and the 2nd desired value, and judge whether the comparative result of described 1st desired value and described 2nd desired value meets specific article
Part；And
Signal output unit, meets in the case of the input torque of specified conditions and described pedal is more than threshold value at described comparative result,
Output is used for stopping or suppressing the control signal of the driving of described motor.
9. a motor drive control apparatus, including:
Calculating section, by using the pedal swing circle calculated according to the signal exported from the turn-sensitive device of pedal divided by basis
The signal that exports from the turn-sensitive device of motor and the motor swing circle that calculates and calculate gear ratio；
Detection unit, it is determined that whether the input torque of described pedal is at specific period continued presence；And
Output unit, is being judged to the period of described input torque continued presence of specific period by described detection unit, export based on
The signal of the gear ratio calculated by described calculating section.
Motor drive control apparatus the most according to claim 9, wherein said output unit by will for specific go out by variable-speed motor
Realize the multiple fixed gear ratio corresponding to multiple gear positions and threshold value set in advance judges with by described detection unit
Compare for described input torque gear ratio during specific period continued presence, and specific go out corresponding with this gear ratio
Fixed gear ratio, and export this fixed gear ratio of expression or the signal of the gear position corresponding with this fixed gear ratio.
Applications Claiming Priority (5)
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| JP2010285553 | 2010-12-22 | ||
| JP2010-285553 | 2010-12-22 | ||
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| JP2010285668 | 2010-12-22 | ||
| PCT/JP2011/078762 WO2012086460A1 (en) | 2010-12-22 | 2011-12-13 | Motor drive control device |
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| CN103430446A CN103430446A (en) | 2013-12-04 |
| CN103430446B true CN103430446B (en) | 2016-09-07 |
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| CN201180061868.7A Active CN103270693B (en) | 2010-12-22 | 2011-12-13 | Motor drive control device |
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| EP (1) | EP2658114B1 (en) |
| JP (2) | JP5922586B2 (en) |
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| TW (2) | TWI570019B (en) |
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- 2011-12-13 WO PCT/JP2011/078762 patent/WO2012086460A1/en active Application Filing
- 2011-12-13 JP JP2012549737A patent/JP5922586B2/en active Active
- 2011-12-13 CN CN201180061837.1A patent/CN103430446B/en active Active
- 2011-12-13 EP EP11850787.0A patent/EP2658114B1/en active Active
- 2011-12-13 JP JP2012549736A patent/JP5732475B2/en active Active
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2391804Y (en) * | 1999-07-15 | 2000-08-16 | 杉浦忠雄 | Auxiliary boosting means for bicycle |
| CN1496915A (en) * | 2002-09-27 | 2004-05-19 | 本田技研工业株式会社 | Electric booster bicycle |
Also Published As
| Publication number | Publication date |
|---|---|
| US20140039742A1 (en) | 2014-02-06 |
| JPWO2012086460A1 (en) | 2014-05-22 |
| EP2658114B1 (en) | 2020-09-02 |
| TWI531506B (en) | 2016-05-01 |
| EP2658114A4 (en) | 2018-03-07 |
| TW201231349A (en) | 2012-08-01 |
| CN103430446A (en) | 2013-12-04 |
| JP5732475B2 (en) | 2015-06-10 |
| TWI570019B (en) | 2017-02-11 |
| WO2012086459A1 (en) | 2012-06-28 |
| CN103270693A (en) | 2013-08-28 |
| JPWO2012086459A1 (en) | 2014-05-22 |
| TW201231350A (en) | 2012-08-01 |
| EP2658114A1 (en) | 2013-10-30 |
| WO2012086460A1 (en) | 2012-06-28 |
| US9162730B2 (en) | 2015-10-20 |
| CN103270693B (en) | 2017-02-08 |
| JP5922586B2 (en) | 2016-05-24 |
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